These contributions result in a new state-of-art performance by boosting the previous best accuracy from 33.3% to 87.4% under the “5°5cm” metric in the NOCS Dataset [1]}, even when compared against approaches utilizing category-level 3D models for training. They also result in comparable performance on the YCBInEOAT dataset [2]}, even when compared against approaches utilizing instance-level 3D models [2]}.
